#ifndef __MPU6050_H
#define __MPU6050_H

#ifdef __cplusplus
extern "C" {
#endif


#include <stdint.h>
#include <assert.h>
#include <dmpHAL.h>
#include "dmpKey.h"
#include "dmpmap.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"

#define Q30_TO_FLOAT(x)  (x)/1073741824.0f

int MPU6050_SelfTest();
int MPU6050_Init();
int MPU6050_ReadAngle(float *yaw,float *roll,float *pinch);

#ifdef __cplusplus
};
#endif

#endif